EP3139336A1 - Appareil et procédé de synchronisation de données de système de gestion d'énergie - Google Patents

Appareil et procédé de synchronisation de données de système de gestion d'énergie Download PDF

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Publication number
EP3139336A1
EP3139336A1 EP16184970.8A EP16184970A EP3139336A1 EP 3139336 A1 EP3139336 A1 EP 3139336A1 EP 16184970 A EP16184970 A EP 16184970A EP 3139336 A1 EP3139336 A1 EP 3139336A1
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EP
European Patent Office
Prior art keywords
synchronization
downloaded
synchronization data
data
client device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16184970.8A
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German (de)
English (en)
Inventor
Jong-Ho Park
Myung-Hwan Lee
Seung-Ju Lee
Yeo-Chang Yoon
Shin-Jo KONG
Jang-Hyeok YUN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LS Electric Co Ltd
Original Assignee
LSIS Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by LSIS Co Ltd filed Critical LSIS Co Ltd
Publication of EP3139336A1 publication Critical patent/EP3139336A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H04L67/1095—Replication or mirroring of data, e.g. scheduling or transport for data synchronisation between network nodes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/445—Program loading or initiating
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/52—Program synchronisation; Mutual exclusion, e.g. by means of semaphores
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/06—Electricity, gas or water supply
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management

Definitions

  • the present invention relates to an energy management system and a data synchronizing method thereof and more particularly, to a data synchronizing method of a client device of an energy management system.
  • An energy management system refers to an integrated energy management solution to utilize the information & communication technology (ICT) and control technology to visualize and optimize a flow and usage of energy for buildings, places of business (factories), houses, social infrastructures (such as power grids and traffic networks), etc.
  • ICT information & communication technology
  • control technology to visualize and optimize a flow and usage of energy for buildings, places of business (factories), houses, social infrastructures (such as power grids and traffic networks), etc.
  • the energy management system is able to monitor the production and consumption of energy such as power and control energy-related facilities and equipment to promote rational energy utilization.
  • the energy management system is able to control recent renewable energy systems and energy storage systems as well as power generation systems and power transmission/transformation systems.
  • Such an energy management system may be classified into HEMS (Home EMS) for house only, BEMS (Building EMS) for building only, FEMS (Factory EMS) for factory only, CEMS (City/Community EMS) for entire region only including them, and the like, depending on applications.
  • HEMS Home EMS
  • BEMS Building EMS
  • FEMS Field EMS
  • CEMS City/Community EMS
  • a power feeder automation system to generalize the national power grids is a large-scaled power grid control system which controls the operation of power generation facilities associated with the power grids through always-information collection and load frequency monitoring for the entire power grids and performs economical dispatch with efficient management of the power grids.
  • a power feeder automation system is constructed as a single system for the entire power grids.
  • Examples of the power feeder automation system may include a domestic central EMS for generalizing the domestic power grids and a Jeju EMS responsible for a regional Jeju power grid.
  • the various kinds of energy management systems have different applications but have the same function in that they have commonly the function to monitor a flow of energy such as power (energy consumption and self-production) and the function to control facilities and equipment.
  • a terminal of a user who operates or monitors an energy management system is referred to as a client terminal.
  • a client terminal has essentially to perform an update or synchronization operation related to the energy management system.
  • the update or synchronization operation of the client terminal can be performed in a highly-limited manner.
  • a client device of a field of power such as the energy management system uses a one-side automatic synchronization method to allow a user to set an update period or update automatic execution, it is difficult to operate the energy management system with consistency. Therefore, there is a need of a method for a client device to perform a proper synchronization operation depending on a synchronization object and the status of operation of the client device.
  • a synchronizing method of a client device in an energy management system including: deciding a synchronization object server for downloading synchronization data; downloading the synchronization data from the decided synchronization object server; determining whether or not the status of operation of the client device is synchronizable, based on the downloaded synchronization data; and performing a synchronization operation for the downloaded synchronization data based on a result of the determination.
  • the act of deciding a synchronization object server may include: checking an active server being operated, which is connected to the client device; if there exists a plurality of active servers, acquiring a server list for the plurality of active servers; and deciding a synchronization object server among the plurality of active servers based on the acquired server list.
  • the act of downloading the synchronization data may include: acquiring a list of synchronization object data of the decided synchronization object server; and checking a synchronization object for synchronization data to be downloaded, based on the acquired list of synchronization object data.
  • the act of downloading the synchronization data may include: constructing a thread pool for multiple downloads for downloading the checked synchronization object; and downloading the synchronization data based on the constructed thread pool.
  • the act of determining whether or not the status of operation of the client device is synchronizable may include: determining an operation importance of the operation of the client device which corresponds to the downloaded synchronization data; and determining whether or not the downloaded synchronization data is synchronizable, based on the determined operation importance.
  • the act of determining whether or not the downloaded synchronization data is synchronizable may include: if the determined operation importance has a first level, determining that the downloaded synchronization data is not synchronizable; if the determined operation importance has a second level, determining that the downloaded synchronization data is synchronizable with a check by a user for the downloaded synchronization data; and, if the determined operation importance has a third level, determining that the downloaded synchronization data is synchronizable.
  • the act of determining an operation importance of the operation of the client device may include: if the downloaded synchronization data is an execution file for the client device, determining the operation importance of the operation of the client device which corresponds to the downloaded synchronization data, as the first level; if the downloaded synchronization data is data corresponding to a monitoring screen of the client device, determining the operation importance of the operation of the client device which corresponds to the downloaded synchronization data, as the second level; and, if the downloaded synchronization data is a configuration file of the client device, determining the operation importance of the operation of the client device which corresponds to the downloaded synchronization data, as the third level.
  • the act of performing a synchronization operation may include: if it is determined that the downloaded synchronization data is synchronizable, performing a synchronization operation for the downloaded synchronization data.
  • the act of performing a synchronization operation may include: if it is determined that the downloaded synchronization data is synchronizable with a check by a user for the downloaded synchronization data, displaying a window for confirmation of execution of the synchronization operation for the downloaded synchronization data; and, if a confirmation input for the displayed confirmation window is acquired, performing a synchronization operation for the downloaded synchronization data.
  • the act of performing a synchronization operation may include: if it is determined that the downloaded synchronization data is not synchronizable, performing an alarm operation to alarm the synchronization disability of the downloaded synchronization data.
  • a data synchronizing method of a client device of an energy management system which is capable of performing an update or synchronization operation of the client device with high stability and efficiency.
  • module and “part,” which are suffixes for elements, are given or used alone or in combination for the purpose of facilitating the description, but these terms are not intended to make a distinction between both.
  • Combinations of blocks in the accompanying drawings and steps in a flow chart may be performed according to computer program instructions.
  • These computer program instructions can be installed in general-purpose computers, special-purpose computers or other processors of programmable data processing equipment. Therefore, the instructions executed by the computers or other processors of programmable data processing equipment create means for performing functions described in blocks in the drawings or in steps in the flow chart.
  • These computer program instructions can be stored in computer-usable or computer-readable memories which can assist in the computers or other processors of programmable data processing equipment to implement particular functions in particular manners. Therefore, the instructions stored in the computer-usable or computer-readable memories can be used to make products containing instruction means for performing the functions described in the blocks in the drawings or in the steps in the flow chart.
  • the computer program instructions can also be installed in the computers or other processors of programmable data processing equipment. Therefore, a sequence of operation steps can be performed on the computers or other processors of programmable data processing equipment to produce computer-executable processes.
  • the instructions operating the computers or other processors of programmable data processing equipment can provide steps for executing the functions described in the blocks in the drawings or in the steps in the flow chart.
  • blocks or the steps may represent portions of modules, segments or codes including one or more executable instructions for executing a specified logical function(s).
  • functions described in the blocks or steps may be performed out of a specified sequence. For example, two successive blocks or steps may be performed substantially at once or may be sometimes performed in a reverse order depending on a corresponding function.
  • Fig. 1 is a block diagram for explaining the configuration of an energy management system according to one embodiment of the present invention.
  • an energy management system (EMS) 10 may include an energy management apparatus 100 and a client device 200.
  • the energy management apparatus 100 may measure and monitor energy consumption in real time and also control energy-related facilities, equipment and so on.
  • the energy management apparatus 100 may include a monitoring system 110, a control system 120, an energy analysis system 130, a data system 140 and a communication system 150.
  • the monitoring system 110 may measure, aggregate and store energy consumption of facilities and equipment.
  • the monitoring system 110 may collect a variety of energy-related data including the energy consumption from one or more of a sensor, valve, measuring instrument and facility operation software.
  • the monitoring system 110 may collect data on power production and transmission of a power system and associated data.
  • the control system 120 may control energy-related facilities and equipment based on the data collected by the monitoring system 110. In addition, based on the data collected by the monitoring system 110, the control system 110 may monitor a flow and usage of energy and detect whether or not the energy usage has a deviation which is higher by a certain level than a normal value or a predicted value. Upon detecting the deviation, the control system 120 may perform an alarm operation to alarm the fact. In one embodiment, the control system 120 may control facilities and equipment related to a power system and monitor a usage and flow of power based on data collected in relation to the power system. In addition, the control system 120 may monitor whether or not the power usage has a deviation which is higher by a certain level than a normal value or a predicted value. Upon detecting the deviation, the control system 120 may perform an alarm operation to alarm the fact.
  • the energy analysis system 130 may analyze the energy usage over time based on the data collected by the monitoring system 110. In addition, the energy analysis system 130 may also predict the energy consumption after a certain period based on the energy analyzed energy usage.
  • the data system 140 may store a variety of data related to the energy management system 10. In addition, the data system 140 may back up a variety of data related to the energy management system 10.
  • the data system 140 may consist of a plurality of different storage devices in which data and backup data related to the energy management systems 10 are stored.
  • the communication system 150 may facilitate communication between components constituting the energy management apparatus 10 and also facilitate communication between the management apparatus 10 and a different device or system.
  • the communication system 150 may facilitate communication between the energy management apparatus 100 and the client device 200.
  • Each of the above-described monitoring system 110, control system 120, energy analysis system 130, the data system 140 and communication system 150 may be implemented with one or more servers.
  • each of the monitoring system 110, control system 120, energy analysis system 130, the data system 140 and communication system 150 may be implemented with one corresponding server.
  • the monitoring system 110, control system 120, energy analysis system 130, the data system 140 and communication system 150 may be incorporated in a signal server.
  • the client device 200 may offer a variety of information related to the energy management system 10 to a user who operates or monitor the energy management system 10 and receive a variety of input related to the energy management system 10. Specifically, the client device 200 may acquire a variety of information related to the energy management system 10 from the energy management apparatus 100 and output the acquired information. In addition, the client device 200 may receive a variety of inputs related to the energy management system 10 from the user and deliver the received inputs to the energy management apparatus 100. Further, a plurality of clients 200 may be included in the energy management system 10 and may be connected to the energy management apparatus 100.
  • the configuration of the client device 200 will be described with reference to Fig. 2 .
  • Fig. 2 is a block diagram for explaining the configuration of the client device according to one embodiment of the present invention.
  • the client device 200 may include a control module 210, a communication module 220, a memory 230, an input module 240 and a display module 250.
  • the control module 210 may control the overall operation of the client device 200.
  • the communication module 220 may facilitate communication between the client device 200 and the energy management apparatus 100. In addition, the communication module 220 may facilitate communication between the client device 200 and another client device 200.
  • the memory 230 may store a variety of data.
  • the memory 230 may store a variety of data related to the operation of the energy management system 10.
  • the input module 240 may receive a variety of inputs related to the energy management system 10.
  • the display module 250 may display a variety of information related to the energy management system 10.
  • Fig. 3 is a flow chart illustrating a data synchronizing method of the energy management system according to one embodiment of the present invention.
  • the client device 200 checks an active server to be synchronized (S110).
  • the control module 210 of the client device 200 can communicate with servers corresponding to one or more systems included in the energy management apparatus 100 through the communication module 220. Then, the control module 210 can check the active server being operated among the servers corresponding to the one or more systems included in the energy management apparatus 100.
  • the client device 200 determines whether or not the number of checked active servers is two or more (S120). If so, the client device 200 decides a synchronization object server (S130).
  • the control module 210 of the client device 200 can determine whether or not the number of checked active servers is two or more, and, if so, acquire a server list of the plurality of checked active servers. Then, the control module 210 can decide a synchronization object server among the plurality of active servers based on the acquired server list. For example, based on a defined rule which may refer to a priority, the control module 210 can decide a synchronization object server. The control module 210 can also decide a synchronization object server which corresponds to a synchronization object or a kind of synchronization operation such as a line of synchronization file.
  • the above-described process of deciding a synchronization object server may be omitted.
  • the client device 200 checks a support protocol of the synchronization object server (S140).
  • the control module 210 can check a support protocol of an active server decided as the synchronization object server.
  • the "support protocol" of the active server may refer to a connection protocol.
  • the support protocol may be one or more of HTTP (Hyper Text Transfer Protocol), HTTPS (Hyper Text Transfer Protocol over Secure Socket Layer) and FTP (File Transfer Protocol).
  • the control module 210 may determine a priority for a plurality of protocols supported by the decided active server.
  • the client apparatus 200 can check a synchronization object based on information on the decided synchronization object server (S150).
  • the control module 210 of the client device 200 can compare one or more of update data and synchronization object data of the decided synchronization object server with the data stored in the memory 230 of the client device 200 and check the synchronization object based on a result of the comparison. For example, the control module 210 can acquire a list for the latest version of update data and synchronization object data of the decided synchronization object server and compare the acquired list with the data stored in the memory 230. Then, the control module 210 can check data of a version previous to the version of last acquired from the synchronization object server, among the data stored in the memory 230, as the synchronization object.
  • the client device 200 constructs a thread pool for multiple downloads for the checked synchronization object (S160).
  • the client device 200 can form individual threads which access the checked synchronization object server, and can construct the thread pool by grouping the individual threads for multiple downloads.
  • control module 210 of the client device 200 can generate a download list to minimize a time taken to download the synchronization object according to the constructed thread pool.
  • the number of synchronization object servers may be two or more. Accordingly, the control module 210 can construct a thread pool for access to each of the plurality of servers which is a synchronization object, and can generate a download list to minimize a time taken to download a checked synchronization object.
  • the client device 200 downloads synchronization data according to the constructed thread pool (S170).
  • the control module 210 of the client device 200 can download synchronization data from a synchronization object server through the communication module 220 based on the constructed thread pool.
  • the control module 210 can download a plurality of synchronization data from a plurality of synchronization object servers based on the constructed thread pool.
  • control module 210 can store the downloaded synchronization data in the memory 230.
  • control module 210 can store the downloaded synchronization data in response to the status of operation of the client device 200 and can prepare a synchronization operation.
  • control module 210 can back up the previous data corresponding to the downloaded synchronization data in the memory 230.
  • the client device 200 determines whether or not the operation status of the client device 200 is a synchronizable status, based on the downloaded synchronization data (S190).
  • the control module 210 of the client device 200 can check a type of the downloaded synchronization data and determine whether or not the operation status of the client device 200 is a synchronizable status, based on the checked type of the downloaded synchronization data.
  • control module 210 can determine an operation importance of the operation of the client device 200 corresponding to the downloaded synchronization data and may or not synchronize the downloaded synchronization data based on the determined operation importance.
  • the control module 210 may determine that the downloaded synchronization data is not synchronizable. For example, if the downloaded synchronization data is a file being executed, the control module 210 may determine that the downloaded synchronization data is not synchronizable. On the other hand, if the operation status of the client device 200 corresponds to a specified level, the control module 210 can determine that an executed file as the downloaded synchronization data is synchronizable.
  • the control module 210 may determine that the downloaded synchronization data is not synchronizable without a check by a user.
  • the control module 210 may determine that the downloaded synchronization data is synchronizable with a check by a user. For example, if the downloaded synchronization data is data related to a monitoring screen, the control module 210 may determine that the downloaded synchronization data is not synchronizable without a check by a user.
  • the control module 210 may determine that the downloaded synchronization data is synchronizable. For example, if the downloaded synchronization data is a configuration file, the control module 210 may determine that the downloaded synchronization data is synchronizable. However, if this configuration file is a configuration file associated with a file being executed, the control module 210 may determine that the downloaded synchronization data is not synchronizable.
  • the control module 210 may determine that the downloaded synchronization data is synchronizable at a preset period. For example, if the downloaded synchronization data is a configuration file to be downloaded for each preset period, the control module 210 may determine that the downloaded synchronization data is synchronizable at the preset period. This allows the control module 210 to perform a synchronization operation for synchronization data of the fourth level only at the preset period.
  • the control module 210 may determine that the operation importance has the highest level. Accordingly, the control module 210 may determine that the downloaded synchronization data is not synchronizable.
  • the above-described determination on whether or not the downloaded synchronization data is synchronizable is not limitative but just illustrative. It is to be understood that a result of the determination may be varied depending on the type of the synchronization data, the operation status of the client device 200, and a setting by a user or designer.
  • the client device 200 If it is determined that the downloaded synchronization data is synchronizable, the client device 200 performs a synchronization operation for the downloaded synchronization data (S200).
  • the control device 210 of the client device 200 can perform a synchronization operation for the downloaded synchronization data.
  • the control device 210 of the client device 200 can display a window for confirmation of execution of the synchronization operation for the downloaded synchronization data on the display module 250.
  • the control module 210 can perform the synchronization operation for the downloaded synchronization data.
  • the control module 210 can further display information on events which may take happen depending on the type of the synchronization data and the execution of the synchronization operation.
  • the control module 210 can display a window for confirmation of execution of the synchronization operation periodically on the display module 250.
  • the control module 210 can change a period at which the window for confirmation of execution of the synchronization operation is displayed, depending on the operation importance of the operation of the client device 200 which corresponds to the downloaded synchronization data.
  • the control module 210 may not display the window for confirmation of execution of the synchronization operation or may change the period at which the window for confirmation of execution of the synchronization operation is displayed.
  • control module 210 may restart the client device 200 according to specified conditions.
  • the client device 200 performs an alarm operation to alarm the synchronization disability of the downloaded synchronization data (S210).
  • the control module 210 of the client device 200 can perform an alarm operation to alarm the synchronization disability based on the operation importance, without performing the synchronization operation for the downloaded synchronization data.
  • the control module 210 can display an alarm window to alarm the synchronization disability on the display module 250.
  • the control module 210 can periodically display an alarm window to alarm the synchronization disability on the display module 250.
  • the control module 210 can change a period at which the alarm window to alarm the synchronization disability is displayed, depending on the operation importance of the operation of the client device 200 which corresponds to the downloaded synchronization data.
  • the control module 210 may not display the alarm window to alarm the synchronization disability or may change the period at which the alarm window to alarm the synchronization disability is displayed.
  • the above-described method can be implemented with codes stored in a processor-readable medium, such as a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage or the like, and may be implemented in the form of a carrier wave transmitted through a network such as Internet.
  • a processor-readable medium such as a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage or the like.
EP16184970.8A 2015-09-03 2016-08-19 Appareil et procédé de synchronisation de données de système de gestion d'énergie Withdrawn EP3139336A1 (fr)

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KR1020150125163A KR101698274B1 (ko) 2015-09-03 2015-09-03 에너지 관리 시스템 및 그의 데이터 동기화 방법

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US (1) US10237345B2 (fr)
EP (1) EP3139336A1 (fr)
KR (1) KR101698274B1 (fr)
CN (1) CN106506582B (fr)

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US20170070569A1 (en) 2017-03-09
CN106506582B (zh) 2019-06-04
KR101698274B1 (ko) 2017-02-01
US10237345B2 (en) 2019-03-19
CN106506582A (zh) 2017-03-15

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